//*******************************************************
// ShoreSide Configuration File

ServerHost = localhost
ServerPort = $(MOOS_PORT)
Community  = shoreside

#include plugs.moos <origin_warp>
  
//------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB           @ NewConsole = false
  Run = pRealm           @ NewConsole = false
  Run = pLogger          @ NewConsole = false
  Run = uProcessWatch    @ NewConsole = false
  Run = pShare           @ NewConsole = false
  Run = pHostInfo        @ NewConsole = false
  Run = uFldShoreBroker  @ NewConsole = false
  Run = uFldNodeComms    @ NewConsole = false
  Run = uFldObstacleSim  @ NewConsole = false
  Run = uFldCollObDetect @ NewConsole = false
	Run = pMapMarkers      @ NewConsole = false
  //Run = pMissionEval	   @ NewConsole = false
#ifdef LAUNCH_GUI yes
  Run = pMarineViewer	   @ NewConsole = false
#else
  Run = pMissionHash     @ NewConsole = false
#endif
}

#include plugs.moos <pShare>

//----------------------------------------------------
// uQueryDB Config Block

ProcessConfig = uQueryDB
{
	halt_max_time  = $(MAX_TIME=0)
  pass_condition = (MISSION_EVALUATED = true)

  check_var = OB_TOTAL_ENCOUNTERS
}

//----------------------------------------------------
// uPokeDB Config Block

ProcessConfig = uPokeDB
{
	poke = MOOS_MANUAL_OVERRIDE_ALL=false 
	poke = DEPLOY_ALL=true
  poke = RETURN_ALL=false
	poke = STATION_ALL=false
}

//----------------------------------------------------
// pMissionEval Config Block  

ProcessConfig = pMissionEval
{
  AppTick    = 4
  CommsTick  = 4

  lead_condition = (OB_TOTAL_ENCOUNTERS > $(TEST_ENCOUNTERS=15))
  //pass_condition = ARRIVED=true

  result_flag = MISSION_EVALUATED = true
  result_flag = SAY_MOOS=done

	report_column = $(SEP)
	report_column = $[OB_TOTAL_COLLISIONS]
	report_column = $[OB_TOTAL_NEAR_MISSES]
	report_column = $[OB_TOTAL_ENCOUNTERS]
	report_column = $[MHASH]
	report_file = results.log
}

//------------------------------------------------------
// pMapMarkers Config Block 

ProcessConfig = pMapMarkers
{
  AppTick       = 2
  CommsTick     = 2

  //app_logging = true
  show_markers = false
  opfile = fld_base.opf

  marker_color  = gray40
}

//------------------------------------------------------
// uFldCollObDetect Config Block

ProcessConfig = uFldCollObDetect
{
  AppTick    = 2
  CommsTick  = 2

  collision_dist = 0.5
  near_miss_dist = 1.5
  encounter_dist = 10

	bin_min_val = 0
	bin_delta = 0.5

  encounter_flag = OB_TOTAL_ENCOUNTERS=$ENC_CNT
  encounter_flag = OB_TOTAL_NEAR_MISSES=$MISS_CNT
  encounter_flag = OB_TOTAL_COLLISIONS=$COLL_CNT
  encounter_flag = OB_ENCOUNTER = $DIST
  near_miss_flag = OB_NEAR_MISS = $DIST
  collision_flag = OB_COLLISION = $DIST
  near_miss_flag = OB_NEAR_MISS_FULL = vname=$VNAME,ob=$ID,dist=$DIST
  collision_flag = OB_COLLISION_FULL = vname=$VNAME,ob=$ID,dist=$DIST
}

//--------------------------------------------------
// uFldObstacleSim Configuration Block

ProcessConfig = uFldObstacleSim
{
  AppTick       = 1
  CommsTick     = 1

  obstacle_file = obstacles.txt

	draw_region = true
	region_edge_color = gray50

	poly_fill_color = off      // default is white
	poly_vert_color = off      // default is gray50
	poly_edge_color = gray80   // default is gray50
	poly_vert_size  = 0        // default is 1
	poly_edge_size  = 1        // default is 1
	

	min_duration = 400
  max_duration = 500
	refresh_interval = 200

	post_points = $(POINTS)
	point_size  = 4
	
	reuse_ids = true
	
#ifdef DRESET true
	reset_interval = 250
	reset_range    = 10
#endif
	
}

//--------------------------------------------------
// uMAC Configuration Block

ProcessConfig = uMAC
{
  AppTick       = 1
  CommsTick     = 1
}

//--------------------------------------------------
// uFldShoreBroker Configuration Block

ProcessConfig = uFldShoreBroker
{
  AppTick       = 1
  CommsTick     = 1

  // Note: [QBRIDGE = FOO]  is shorthand for                    
  //       [BRIDGE = src=FOO_$V,  alias=FOO] and                
  //       [BRIDGE = src=FOO_ALL, alias=FOO]

  qbridge  = DEPLOY, RETURN, STATION, NODE_REPORT, NODE_MESSAGE
  qbridge  = MOOS_MANUAL_OVERRIDE, APPCAST_REQ, TRANSIT
  qbridge  = RETURN_UPDATES
  qbridge  = TRACKED_FEATURE

  bridge   = src=GIVEN_OBSTACLE
  bridge   = src=DRIFT_VECTOR_ADD, alias=DRIFT_VECTOR_ADD
  bridge   = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR
}

//--------------------------------------------------
// uFldNodeComms Configuration Block

ProcessConfig = uFldNodeComms
{
  AppTick   = 2
  CommsTick = 2

  comms_range      = 500
  critical_range   = 25
  min_msg_interval = 15
  max_msg_length   = 1000
  groups           = true

  view_node_rpt_pulses = false
}

//--------------------------------------------------
// pHostInfo configuration block from plugin

ProcessConfig = pHostInfo
{
  AppTick    = 1
  CommsTick  = 1
}

//--------------------------------------------------
// pLogger Configuration Block

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10
  
  File          = XLOG_SHORESIDE
  PATH          = ./
  SyncLog       = true @ 0.2
  AsyncLog      = true
  FileTimeStamp = true

  LogAuxSrc     = true

  // Log it all!!!!!
  WildCardLogging = true 

  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}


//--------------------------------------------------------
// pMarineViewer Config Block

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  tiff_file            = MIT_SP.tif
  set_pan_x            = 30
  set_pan_y            = -340
  zoom                 = 1.5
  vehicles_shape_scale = 1.5
  vehicles_name_mode   = names

  circle_viewable_all = false
  
	polygon_viewable_labels = false

  appcast_viewable = true
  appcast_color_scheme = indigo

  scope = MISSION_EVALUATED

  nodes_font_size = xlarge
	procs_font_size = large
	appcast_font_size = large
	
  action = STATION_ALL = false
  action = STATION_ALL = true

  left_context[return_point] = RETURN_$[UP_VNAME_CLOSEST] = true
  left_context[return_point] = RETURN_UPDATES_$[UP_VNAME_CLOSEST] = points=$[XPOS],$[YPOS]
  left_context[station]      = STATION_$[UP_VNAME_CLOSEST] = true

  cmd = label=DEPLOY, var=DEPLOY,  sval=true,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE,  sval=false,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=AVOID,  sval=true,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=RETURN,  sval=false,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=STATION_KEEP,  sval=false,  receivers=all:$(VNAMES)

  cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES)
  cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES)

  cmd = label=STATION, var=STATION,  sval=true,  receivers=all:$(VNAMES), color=pink

  button_one   = DEPLOY  # DEPLOY_ALL=true 
  button_one   = MOOS_MANUAL_OVERRIDE_ALL=false 
  button_one   = RETURN_ALL=false # STATION_ALL=false

  button_two   = RETURN  # RETURN_ALL=true
  button_two   = RETURN  # STATION_ALL=false
  button_four  = STATION   # STATION_ALL=true

  button_5 = MARKERS:T # MAP_MARKERS=true
  button_6 = MARKERS:F # MAP_MARKERS=false
	}


//--------------------------------------------------------
// uProcessWatch Config Block

ProcessConfig = uProcessWatch
{
  AppTick   = 1
  CommsTick = 1

  allow_retractions = true
  
  watch_all = true      // default is true

  nowatch = uXMS*
  nowatch = uPokeDB*
  nowatch = uQueryDB*

  summary_wait = 12
}